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1. INTERRUPT FLAG READ 4 Re 11 7 HMC 4 1 1 11 8 HMC 4 1 12. 1 2 RATE B DATA 2 RATE A DATA X2 S 1 2 RATE B DATA RATE A DATA Xx 2 SCW A DATA SCW B DATA 11 3 HMC4 1 1 1 2 2 1 0 11 4 HMC 4 1 1 SYNC CODE 20H 2AH 60H 61H SYNC
3. 16 16 3 11 9 HMC4 1 1 HMC 4 1 1 INTERNAL COUNTER 32Bit DU INTERNAL COUNTER 11 10 p Down COUNTER HMC 4 1 1 INTERNAL COUNTER INTERNAL COMPARATE DATA 32Bit 1NTERNAL COMPARATE DATA
4. 1 L S 1I 3 3V RoHS 108 0 8mm FPBGA 11X11mm F 2 lt 1 F FE
5. S S S SPEED DATA TIME HIGH SPEED DATA 78 1 b S S SPEED DATA TIME HIGH SPEED DATA 16 11 RESET HMC 4 1 1 400nSec RESET L RE SET L RESET L
6. INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H INDEX PULSE DRIVE INDEX PULSE DRIVE RANGE DATA PRE BUFFEBR gt RANGE DATA LOW SPEED DATA PRE BUFFER gt LOW SPEED DATA HIGH SPEED DATA PRE BUFFER gt HIGH SPEED DATA RATE A B DATA PRE BUFFER gt RATE A B DATA SCW A B DATA PRE BUFFER gt SCW A B DATA SLOW DOWN REAR PULSE DATA PRE BUFFER gt SLOW DOWN REAR PULSE DATA INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H PRE BUFFER PRE BUFFER SDREQ INDEX PULSE DRIVE
7. o SYNC SYNCHRONOUS DRIVE START CODE 6CH EXTERNAL COUNTER EXTERNAL COUNTER LATCH REQUEST oe olololo EE 0 1 0 1 0 1 0 1 SIGNAL SELECTOR READ CODE 15H SIGNAL SELECTOR No 15H 1 4 1 2 0 3 4 LD7lpelpslD4lp3 pz pilDO LD7lpelpslD4lp3 p2lpilDO SIGNAL SELECTOR WRITE
8. 1 INTERNAL COUNTER RE am EXTERNAL COUNTER a PICH PULSE COUNTER R E A D W R I T E L A T C H NN RESET SCS SCLK SDI SDO SDOOE SDREQ 1CLK DN5 0 HPMD SYNC HPUP HPDN VECT BUSY EMSEP UP CONST DOWN SSTOP ESTOP LM LM ALM INP SFLM SFLM 106 ICL DEVOV ECG ECL PPCP 0UT3 0 IN3 0 LBF INT HMC41 1 I F 3 DC T 85 C T 125 C
9. NE 2 DIVIDE PULSE DATA INDEX PULSE DRIVE E RITE CODE 10H DIVIDE PULSE DATA 0 BUFFER WRITE CODE 60H 61H PULSE DRIVE PRE BUFFER WRIT 3 INDEX PULSE D E INDEX DEX PULSE DRIVE CODE 60H 61H SDREQ HH INDEX PULSE DRIVE PRE PULSE DRIVE INDEX SDREQ
10. SPEED DATA RATE A DATA RATE A DATA 1 4 095 0001H OFFFH RATE A DATA 16 16 15 11 HMC41 1 I F 9 2 RATE A DATA RATE B DATA SPEED DA lt RATE A DATA RATE A DATA
11. c 2 2 2 77D 1pps 200pps 10m F 84 16 17 HMC411
12. L Si HorL LS 1 1 1 HMC 4 1 1 IT F CPU BUS tt 10Mpps UN S
13. 4 0 We ee 72 RANGE DATA H 1 4 095 3 RAN HMC4 1 1 MHz RANGE DATA GE DATA H i 40MHz CI Oo 13 107200 500 16 384000 on onl on 19 660800 m O 1 26 214400 32 768000 CO oe eke 39 321600 15 0 1 5 1 OO 1OITOTO 1
14. ALM ALM 11 2 HMC 4 1 1 2 1 2 RATE B DATA RATE A DATA X 2 S 1 2 RATE B DATA 2 RATE A DATA Xx 2 SCW A DATA SCW B DATA
15. 0 ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST FULL NN CLEAR REQUEST ONE TIME CLEAR REQUESTJ EXTERNAL COUNTER 0 SIGNAL SELECTOR WRITE A 1 CE ONE TIME CLEAR REQUEST E C FULL TIME CLEAR REQUEST CODE 49H EXTERNAL COUNTER FULL TIME CLEAR REQUEST No 49H FULL TIME CLEAR REQUEST EXTERNAL COUNTER SIGNAL SELECTOR WRITE CODE 14H EXTERNAL COUNTER L H 0
16. EXTERNAL COUNTER No 1 2 0 1 BUSY Hd LM LM ALM INP D IR PULSE L CW H CCW H CW L CCW L CW H CCW 6 H CW L CCW H H L Pr EXTERNAL COUNTER B 6 CW 7 7 EXTERNAL COUNTER EXTERNAL COUNTER
17. HIGH SPEED DATA 7 4 5 16 16 10 LOW SPEED DATA RANGE DATA 16 16 15 9 HMC411 S S 4 9 1 RATE A DATA
18. 1 14 CPU CPU 5V 1H HorL BUSSEL SERISEL SEL8 DN5 DNO TEST1 TEST2 5V Vpp BUSSEL SERISEL GND A2 A0 D15 D00 SEL8 SDI SDO TEST1 TEST2 CS SCS R SCLK A B
19. INT 0 3 D7 D6 D5 54T D3 52 D1T Do LL LM LM ALM INP BUSY HH 4 Dr D6 55T D4 D3 52 D1T no ma EE INTERNAL COUNTER lt INTERNAL COMPARATE DATA I CG INTERNAL COUNTER gt INTERNAL COMPARATE DATA ECEL EXTERNAL COUNTER lt EXTERNAL COMPARATE DATA ECG EXTERNAL COUNTER gt EXTERNAL COMPARATE DATA SFLM INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA SFLM INTERNAL COUNTER lt SOFT LIMIT COMPARATE DATA DEYOYV DEVIATION DATA gt DEVIATION COMPARATE DATA L BF EXTERNAL COUNTER INTERRUPT SELECTOR READ CODE 17H INTERRUPT SELECTOR
20. EX CODE 6AH 1 H EXTERNAL COUNTER E 1 EXTERNAL COU H H 32Bit INO IN3 TER a 3 TERNAL COUNTER DRIVE H EE B 11 18 HMC 4 1 1 EXTERNAL COUNTER
21. PPCP G6O Pich Pu ICLK 1 H EXTERNAL COUNTER PPCP IN3 74 IN2 37 IN 1 73 I NO 36 Universal Signal In SIGNAL SCAN A DRIVE SIGNAL SCAN B DRIVE SIGNAL INDEX DRIVE EXTERNAL COUNTER EXTERNAL COUNTER OUT3 72 OUT2 35 OUT 1 33 OUT 0 34 Universa1 Si ON OFF TEST1 86 TEST2 100 Test Input
22. ba ead 11IHIHIII i lalla D31 ee 224 D223 216 D15 ee 28 D7 20 i a MODE REGISTER 2 Bit 0 LOW SPEED SPEED DATA b MODE REGISTER 2 Bit 1 LOW SPEED LOW SPEED SPEED DATA SPEED DATA SLOW DOWN REAR PULSE DATA READ CODE OFH SL
23. HMC4 1 1 void com_wrt short comm Short sif _datai sif_data inp SIFW_ADDR sif_data amp SIF_SCS_L SCS ON outp SIFW_ADDR sif_data sif wrt DEVICE Device Number WRITE sif_wrt comm COMMAND WRITE sif_data SIF_SCS_H SCS OFF outp SIFW_ADDR sif_data HMC411 4 V void com_f4wrt short comm unsigned long data Short d Short sif_data
24. E LM LM END STATUS LMSED Bit 1 LOW SPEED
25. HMC411 2 unsigned short com_h2red short comm Short dj Short sif_data unsigned short h2red_data 0 sif data inp SIFW_ADDR sif data amp SIF_SCS_L SCS ON outp SIFW_ADDR sif_data F wrt DEVICE Device Number WRITE His S sif_wrt comm COMMAND WRITE h2red_data unsigned short sif_red amp 0xff lt lt 8 1 D31 D24 READ h2red_data unsigned short sif_red amp 0xff 2 D23 D16 ERAD 3 4 sif_data SIF_SCS HH SCS OFF outp SIFW_ADDR sif_data return h2red_data 68
26. HMC411 2 unsigned short com_ 2red short comm unsigned long f4 data 2red_data unsigned short f4_data com_f4red comm 12red_data unsigned short f4_data return 12red_data x HMC411 void end_chk void while com_h2red 0x6A amp 0x0001 HMC411 void hmc_init void com_12wrt 0x00 100 com_12wrt 0x02 1000 com_ 12wrt 0x04 20000 com_ 12wrt 0x06 256 com_ 12wrt 0x10 0x4822
27. a RESET RESET INT CMBSY SDO ee L b RESET H RE SET INT CMBSY SDO OC LK a RE ES NN NR ER IR I C LK 2 ee L c RESET RESET RANGE_DATA 4 095 OFFFH LOW SPEED_DATA 1 0001H HIGH SPEED_DATA 1 0001H RATE A B DATA
28. BUSY 42 1 SIGNAL SCAN A DRIVE CODE 24H 25H CW CCW No 24Hor25H BUSY H SIGNAL SELECTOR WRITE CODE 14H BUSY HH SIGNAL SCAN B DRIVE CODE 26H 27H CW CCW LOW SPEED
29. INDEX PULSE DATA OVERRIDE CODE 2CH HIGH SPEED DATA WRITE CODE 04H 1 2 HMC41 1 F SPEED DATA 7 6 ABSOLUTE DRIVE 2 147 483 648 7FFFFFFFH 80000000H gt INTERNAL COUNTER lt INTERNAL COUNTER
30. 1 2 3 4 ppelpp sphpllp III AN po he D31 es 224 92 3 ee ee ee ee 216 D15 ee 28 D7 20 56 1 INDEX PULSE DRIVE PRE BUFFER RANGE DATA PRE BUFFEK gt RANGE DATA LOW SPEED DATA PRE BUFFER gt LOW SPEED DATA HIGH SPEED DATA PRE BUFFER gt HIGH SPEED DATA RATE A B DATA PRE BUFFER gt RATE A B DATA SCW A B DATA PRE BUFFER gt SCW A B DATA SLOW DOWN REAR PULSE DATA PRE BUFFER gt SLOW DOWN REAR PULSE DATA INDEX PULSE DRIVE PRE BUFFER DATA CODE 62H READ INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H No 62H 1 4 1
31. SFLM END STATUS SL Bit 1 LOW SPEED H SFLM 68 INTERNAL I LIMIT COMPARATE DATA SFLM HH 3 SFLM SFLM END STATUS SLMED Bit 1 LOW SPEED
32. 0 0 0 0 1 gt X18 12 1 yc X72 12 0 cy X36 12 0 gt 144 12 1 X72 12 1 X288 12 X576 12 X1 152 12 X2 304 12 X4 608 12 X9 216 12 X18 432 12 X36 864 12 X73 728 12 X147 456 12 X294 912 12 X589 824 12 X1 179 648 12 X144 12 X288 12 X576 12 1 152 12 X2 304 12 1 X4 608 12 1 X9 216 12 X18 432 12 X36 864 12 X73 728 12 X147 456 12 X294 912 12 oo lo ol ol lo ol ololol o olololo Folol olo r olol lolo FF Flolololo r lolololo rolol rlolo r lololr lolo I CODE 19H DIGITAL FILTER No 19H 1 4 1 2
33. 8 16 16 15 et RANGE DATA 4 095 OFFFH um 3 1 4 TI D7 De Ds lp4 ps pz pilDpoI 1 Ee aly es il 211 28 27 20 CODE 01H RANGE DATA No 01H 2 1 2 0 3 4 D7 pe ps p4 p3 p2 p1 po D7 pe ps p4 p31 pn2 pi1 Do Fr Ey A 0 211 28 27 29 LOW SPEED DATA WRITE CODE 02H LOW SPEED DATA No 02H 1 4 1 2 0 1 TINDEX PULSE DRIVE
34. HH ml RESET INT SDO SCS 18 VECT DIR 14 BUSY SYNC UP CONST DOWN DIR PULSE 15 DIR PULSE 15 L PPLS DIR PULSE 16 il 14 DIR 15 DIR 2 16 2 18 CODE 20H lt 2AH 60H 61H SCS 98 1 DIR PULSE 15 DIR PULSE 15 L DIR PULSE 16 UP CONST DOWN INP OR ALM 19 Ts 11 15 DIR 2
35. BUSY TH EXTERNAL COUNTER ONE TIME CLEAR REQUESTJ FULL TIME CLEAR REQUEST LATCH REQUEST 0 3 4 D7 pe Ds D4 D31D2 D1 Do D7 De Ds D4 D3 D2 D1 Do SIGNAL SCAN A DRIVE SIGNAL SCAN B DRIVE SIGNAL INDEX DRIVE 8 37 HMC41 1 I F 8 SIGNAL SCAN A DRIVE SIGNAL SCAN B DRIVE SIGNAL INDEX DRIVE 9 H
36. ONE TIME CLEAR REQUEST ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST EXTERNAL COUNTER 0 SIGNAL SELECTOR WRITE CODE 14H A FULL TIME CLEAR REQUEST E C CLEAR REQUEST RESET CODE 4AH EXTERNAL COUNTER ONE TIME CLEAR REQUESTJ FULL TIME CLEAR REQUEST No 4AH ONE TIME CLEAR REQUESTJ FULL TIME CLEAR REQUESTJ EXTERNAL COUNTER 0 ONE TIME CLEAR REQUESTJ FULL TIME CLEAR REQUEST 1 CODE 4CH EXTERNAL
37. NO X77 yy L L INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA INTERNAL COUNTER lt SOFT LIMIT COMPARATE DATA 11 13 Up Down 2 HMC 4 1 1 EXTERNAL COUNTER 32Bit Up Down COUNTER Up Down 2 2 EXTERNAL COUNTER EXTERNAL COUNTER
38. EXTERNAL PRE SCALE DATA 32Bit EXTERNAL PRE SCALE DATA EXTERNAL PRE SCALE DATA n Up 0 1 2 nhl nn 0 1 2 Down 0 n nhl 2 1 0 hn n l EXTERNAL PRE SCALE DATA FFFFFFFFH 11 16 HMC411 EXTERNAL COUNTER H Ea 11 17 HMC41 1 INO IN3 EXTERNAL COUNTER STATUS READ
39. 4 11 19 HMC 4 1 1 HH S 32 767 GN Bit 15Bit BINARY DATA Up Down 2 INTERNAL COUNTER EXTERNAL COUNTER INTERNAL COUNTER EXTERNAL COUNTER 16Bit E TINTERNAL PRE SCALE DATA EXTERNAL PRE SCALE DATA FFFFFFFFH 11 20 B HMC 4 1 1 DEVIATION COMPARATE DATA 15Bit
40. BUSY EB RESET ON RESET SLOW DOWN STOP CODE 1EH No 1EH BUSY H END STATUS SSCED Bit 1 EMERGENCY STOP CODE 1FH No I1FH BUSY H BND STATUS ESCED Bit
41. SDREQ IN3 INO LM LM ALM INP HPUP HPDN ECDN ECUP SIGNAL READ CODE 69H SDREQ 88 1 1 i 7 7 1 CPU HMC411 SDOOE SDO SDO ENABLE SCLK SCS SCLK L SCS SCLK Ss cyc SCLK SCS SCLK H SCS
42. 7 1 INTERNAL COUNTER DRIVE 2CH 3 DATA DATA DATA HIGH SPEED DATA gt LOW SPEED HIGH SPEED DATA LOW SPEED HIGH SPEED DATA lt LOW SPEED 4 INDEX PULSE DRIVE CC 3 16 16 10 5 SCAN DRIVE S SPEED
43. LM LM END STATUS LMSED Bit 1 LOW SPEED 25 HMC41 1 I F ECUP 30 Externa EXTERNAL COUNTER Up 2 A Up Down 2 2 EXTERNAL COUNTER Down 2 B
44. Up Down 2 2 DEVOV 28 Deviation gt DEVIATION COMPARATE DATA DEVOV HH _BXTERNAL COUNTER LBF H L BF E C LATCH REQUEST CODE 4CH EXTERNAL UNTER LATCH DATA READ CODE 4EH L ncy Stop End Pulse Outpu HH EMSEP H INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA SFLM 3 SFLM
45. EXTERNAL COUNTER No 6AH 1 4 3 4 0 INT 1 LD7 56 55 D4 53 D2T D1T DO LL I CL INTERNAL COUNTER lt INTERNAL COMPARATE DATA I CG INTERNAL COUNTER gt INTERNAL COMPARATE DATA ECL EXTERNAL COUNTER lt EXTERNAL COMPARATE DATA E CG EXTERNAL COUNTER gt EXTERNAL COMPARATE DATA FSFLM INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA SFLM INTERNAL COUNTER lt SOFT LIMIT COMPARATE DATA DEVOV DEVIATION DATA gt DEVIATION COMPARATE DATA LBF EXTERNAL COUNTER 2 57 DoT 55 D4T 53 52 D1T 50 BUSY DOWN CONS UP VECT HPMD INT 1 0 59
46. SDREQ ON SCS 21 BUSY SDREQ lg 21 CODE 60H 61H SCS 99 HMC41 1 I F SDREQ OFF UP CONST DOWN BUSY SDREQ EMSEP DIR PULSE 15 DIR PULSE 15 L DIR PULSE 16 EMSEP Tis 15 DIR 2 16 2 INITIAL CLEAR SCS 22 OCLK INT SDO TNT SDO 22 INITIAL CLEAR CODE 1DH SCS HANDY PULSER MODE SET SCS 23 HPMD Ts gt 23 HANDY PULSER MODE SET CODE 1AH SCS HANDY PULSER MODE RESET SCS 24 HPMD Ta 3 24 HANDY PULSER MODE RESET CODE 1BH SCS 100
47. BUSY L SIGNAL INDEX DRIVE 1 2 3 4 poolosoaosloolod orloololodosloaloloo roeloospalo lo lesaTodoaToaloilod Nat ede la 11HHHIII NU a i i WW i a D31 ee 224 92 3 ee ee ee ee 216 D15 ee 28 D7 20 INDEX PULSE DATA OVERRIDE CODE 2CH INDEX PULSE DATA INDEX PULSE DRIVE ABSOLUTE DRIVE No 2CH 1 4 1 4 INDEX PULSE DRIVE ABSOLUTE DRIVE a b c
48. No 0 1 TER PICH PULSE COU 3CH 1 4 1 2 2 0 65 535 0000H FFFFH PICH PULSE COUNTER 0 0000H 3 4 D7 pe ps p4 p31 pn2 pi1 po D7 pe ps p4 p3 pn2 pi1 po 20 CODE 3DH 5 No 0 PICH PULSE COUNTER 3DH 1 4 1 2 Er 2 4 3 D7 pe ps D4 D3 D2 D1 Do LD7lpelpslp4lp3 pzlpilDo EN 2 2 HMC41 1 I F CODE 3EH PICH DATA PICH PULSE COUNTER
49. HMC41 1 BUSY H BUSY RANGE DATA INDEX PULSE DRIVE 12 LOW SPEED DATA TINDEX PULSE DRIVE
50. DEX PULSE DATA gt 1 4 1 1 EE ls LSE DATA 4 3 LSE DATA 4 2 LSE DATA 4 1 Sm 1 RIVE ED DATA DIVIDE PULSE DATA H E 1 DIVIDE PULSE DATA DIVIDE PULSE DATA INDEX PULSE DRIVE MODE REGISTER 1 W 2
51. MODE RESISTER 1 1 DIR L CW H CCW PULSE HH INP L ALM L LM L LM L EXTERNAL COUNTER COUNT EXTERNAL COUNTER COUNT Up Down MODE RESISTER 2 INP ALM
52. 0 2 1 2 5 10 7 2 RA EEN ER CR 3 gt Rn 220 1S80 G 1 160 A S 60 120S 60S 106 High Performance Technology HPtec 059 0021 1 27 23 TEL 04 2951 5381 FAX 02 2951 5383 242 0005 3 9 21 TEL 046 200 1317 FAX 046 200 1318 URL http www hptec co jp
53. 50 1 2 2 10 ICLK 2 H CW CCW H VECT ICG CW VECT ICG L CCW VECT ICG H TERNAL COUNTER gt INTERNAL COMPARATE DATA VECT ICG H TERNAL COUNTER INTERNAL COMPARATE DATA VECT ICG
54. BUSY RATE A B DATA TINDEX PULSE DRIVE 16 16 15 S S BUSY HH 16 16 15 1 4 095 0001H 0FFFH RATE A B DATA 4 095 OFFFH mm pF ER 3 1 4 TI D7 p6 p5 p4 p3 p2 Dpllpo hel UI II UI 211 28 27 20 CODE 07 09H RATE A B DATA No 07Hor09H 1 4 1 2 0 3 4 D7 pe ps p4 p31 p2 pi1 po Dr pe ps p4 p3 p2 pi1
55. SLOW DOWN RE A PRE BUFFER WRITE SLOW DOWN RE A PRE BUFFER READ INDEX PULSE BUFFER WRITE INDEX PULSE BUFFER WRITE INDEX PULSE D FER DATA READ SEQUENCE DRIV RESET 28 IVIDE PULSE DATA WRITE IVIDE PULSE DATA READ IVIDE PULSE COUNTER READ 0 OPE ON SIGNAL WRITE SIGNAL READ RIVE STATUS READ END STATUS READ SYNCHRONOUS DRIVE START 0 OPERATION ol ololololololololo lol lolol ual ol on re es 0 OPERATION 29 HMC41 1 I F 13 2 CODE 00H RANGE DATA No 00H 1 4 1 2 0 1 BUSY Fi 3 TINDEX PULSE DRIVE
56. 4 095 0FFFH SCW A B DATA 32 767 7FFFH SLOW DOWN REAR PULSE DATA 0 00000000H HANDY PULSER DATA 0 00000000H DEX PULSE DATA 0 00000000H DRIVE PULSE COUNTER 0 00000000H TERNAL _ COUNTER 0 00000000H TERNAL COMPARATE DATA 0 00000000H TERNAL PRE SCALE_DATA FFFFFFFFH DEVIATION COMPARATE DATA 32 767 7FFFH SOFT LIMIT COMPARATE_ DATA 2 147 483 647 7FFFFFFFH SOFT LIMIT COMPARATE DATA 2 147 483 648 80000000H PICH PULSE COUNTER 0 0000H PICH _ DATA 65 535 FFFFH EXTERNAL _ COUNTER 0 00000000H EXTERNAL COMPARATE DATA reese ss essa eine 0 00000000H EXTERNAL PRE SCALE_DATA
57. END STATUS LMSED Bit 1 SCAN DRIVE SIGNAL SCAN B DRIVE ER ER SIGNAL INDEX DRIVE SIGNAL INDEX DRIVE 16 18 S HMC 4 1 1 S SCW A SCW B DATA S
58. HH 3 SPEED DATA INDEX PULSE DRIVE a gt LOW SPEED b LOW SPEED c lt LOW SPEED a c
59. 2 DRIVE STATUS READ CODE 6AH 7FFFFFFFH 2 147 483 647 gt 00000000H 0 gt FFFFFFFFH 1 gt 80000000H 2 147 483 648 19 HMC41 1 I F 11 1 1 HMC 4 1 1 INTERNAL COUNTER INTERNAL PRE SCALE DATA 32Bit INTERNAL PRE SCALE DATA TINTERNAL PRE SCALE DATA n Up
60. HIGH SPEED DATA LOW SPEED DATA 1 BUSY 81 HMC41 1 I F 16 13 16 6 2 2 16 12 HMC 4 1 1 DIGITAL FILTER WRITE CODE 18H HPUP HPDN
61. No 50H 1 4 1 2 0 1 1 4 095 EX 0001H OFFFH RANGE DATA PRE BUFFER 4 095 OFFFH PRE BUFFER 16 16 21 3 4 LD7lpelpslp4lpslD2 pil D0 Dr De Ds p4 p3 D2 D1 no es cr NN IE TI 211 PR 27 20 HMC41 1 I F RANGE DATA PRE BUFFER READ CODE 51H RANGE DATA PRE BUFFER No 51H 1 4 1 2 0 PRE BUFFER Hm 2 16 16 21 3 4 D7 pe ps p4 Dp3 p2 p1 po D7 pe
62. FR HMC41 1 F CODE 6BH No 6BH 1 4 1 3 4 0 BUSY HH INT L INT 2 Bit 1 1 Bit BUSY L 2 D7 oT 55 D4 53 52 D1 no SLMED Soft Limit End LMSED Limit Signal End LM 1 SSSED Slow Down Stop Signa End S STOP 1 ESSED Emergency Stop Sig d ESTOP 1
63. HH sal 16 14 HMC 4 1 1 HMC 4 1 1 HMC4 1 1 te 25 25 82 16 15
64. 16 2 19 INT ON BUSY TNT KT7 lt gt Ts 17 INT INT O FF SCS 20 TINT 17 HZ Ty 17 INT 20 CODE 20H 2AH 60H 61H END STATUS READ CODE 6BH SCS
65. 6 14 6 15 6 16 6 17 sk 1 6 1 7 1 8 1 9 1 10 1 1 1 1 12 1 1 3 1 14 1 15 1 1 6 1 17 1 18 1 19 1 20 1 2 1 1 22 1 2 3 1 2 4 1 25 1 26
66. LM 1 ALM 0 I NE 4 D7 pe D5 D4 D3 D2 p1 DO MODE REGISTER 1 WRITE CODE 10H MODE REGISTER 2 WRITE CODE 12H No 12H 1 C 4 1 2 0 1 BUSY HH 0 3 4 D7 De Ds lp4 ps pz pilDpoI Dr pe ps D4 D3 D2 D1 Do STRAIGHT ACCELERATE MODE ASYMMETRICAL STRAIGHT ACCELERATE MODE S S CURVE ACCELERATE MODE
67. INTERNAL COUNTER TINDEX PULSE DRIVE 1 2 3 4 lpelpalp palpalpllp9 lpelpslp paplpllpl lpelplp plp2lplp Na ee 11HHHIII i Ne a i A D31 ee 224 D23 216 D15 ee 28 D7 20 43 HMC41 1 F DRIVE PULSE COUNTER READ CODE 2BH DRIVE PULSE COUNTER No 2BH 1 4 DRIVE PULSE COUNTER 0 DRIVE PULSE COUNTER BUSY
68. I NP BUSY BUSY HH INP BUSY INP dh ALM ALM ALM ALM END STATUS ALMED Bit 1 SSTOP G61 Slow Down Stop I S STOP H LOW SPEED LOW SPEED
69. 1 32 767 0001H 7FFFH RATE A RATE B SCW A SCW B DATA 16 16 15 S 16 16 15 12 1 2 RATE B DATA lt RATE A DATA X2 SCW A DATA SCW B DATA 13 HMC41 1 F 10 HMC 4 1 1 RATE A RATE B DATA S SCW A SCW B DATA
70. 16 16 20 D5 D4 ECUP ECDN Up Down 2 1 2 2 2 4 34 F 0 1 H 0w 2 CCW A MODE REGISTER 1 READ CODE 11H MODE REGISTER 1 No 1IlH 1 4 1 2 0 3 Dp7 pe D5 D4 D3 D2 DI Do I LM
71. D I R 2 2 INT Up Down Up Down 2 2 EXTERNAL COUNTER EXTERNAL COUNTER 2 2 SYNC INP ALM INP ALM
72. I CLK F 4 T RESET E S ICLK F F erk RANGE DATA x 262 144 Four Fuui X SPEED DATA RATE n DATA X 4 To F crk Tu Tuuir X SPEED DATA B F cg ee En Pulse Sec ee Pulse Sec SPEED DATA A Sec Sec SPEED DATA A SPEED DATA B Tscw FE CLK Tunir cy x SCW n DATA x 2 RATE n DATA x SCW n DATA x 8 SCS
73. INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H DRIVE PRE BUFFER WRITE CODE 60H 61H IN DEX PULSE DRIVE INDEX PULSE INDEX PULSE DRIVE H 16 16 21 11 26 HMC41 1 H 22 B H
74. 10 6 11 1 1 1 2 11 3 1 1 4 1 5 CO D DD ml hb kk J vv vOOO OO OO OO CO 00 0 0 00 OO0 oo 1 1 1 1 6 NE 1 1 3 5 5 5 5 5 1 5 2 C 6 1 6 2 6 3 6 4 6 5 2 6 6 2 6 7 6 8 6 9 6 10 6 1 1 6 12 6 13
75. 2 HMC41 1 1 6 ECUP A bee oe T er T T T T A B X2 5nSec T ICLK CN 74 16 7 HMC411 DIR PULSE 1 2 2 1 DIR I HH CW L CCW PU
76. 2 16 16 13 9 SIGNAL SCAN A DRIVE SIGNAL SCAN B DRIVE SIGNAL INDEX DRIVE 10 EXTERNAL COUNTER 11 FULL TIME CLEAR REQUESTJ 12 ONE TIME CLEAR REQUESTJ 13 EXTERNAL COUNTER 93 HMC41 1 I F 17 3 ICLK ICLK OCL K TICLK OCLK DIR VECT BUSY ICLK OCLK VECT DIR 14 BUSY 14 DIR SDREQ
77. n 0 0 n Up 0 1 2 nhl nn 0 1 2 Down 0 hn nhl 2 1 0 nn n l PICH PULS 1 NTER E COU PICH PULSE COUNTER PICH PULSE DATA 11 24 HMC 4 1 1 11 25 HMC 4 1 1 1 EXTERNAL COUNTER HH 16 16 20 HMC4 1 1
78. 1 4 1 2 0 PRE BUFFER 16 16 21 3 4 D7 pe ps p4 ps3 p2 p1 po D7 pe ps p4 np3 p2 p1 po I IL 0 D14 28 27 20 SLOW DOWN REAR PULSE DATA PRE BUFFER CODE 5EH WRITE SLOW DOWN REAR PULSE DATA PRE BUFFER No 5EH 1 4 0 4 294 967 295 00000000H FFFFFFFFH SLOW DOWN REAR PULSE DATA PRE BUFFER 0 00000000H PRE BUFFER 16 16 21 1 2 3 4 SLOW DOWN REAR PULSE DATA PRE BUFFER CODE 5FH READ SLOW DOWN REAR PULSE DATA PRE BUFFER No
79. 2 Up Down 2 2 2 HMC 4 1 1 2 T A B
80. PRE BUFFER 16 16 21 3 4 0 LLS asroees 28 Ds CR Ees2 Se 20 SCW A B DATA PRE BUFFER WRITE CODE 5A 5CH SCW A B DATA PRE BUFFER No 5A 5CH 1 4 1 2 0 1 1 32 767 0001H 7FFFHD SCW A B DATA PRE BUFFER 32 767 7FFFH PRE BUFFER 16 16 21 3 4 D7 pe ps p4 pn3 np2 p1 Do LD7lpelpslp4lpslpzlpilpo ND 28 27 20 55 HMC41 1 I F CODE 5B 5DH SCW A B DATA PRE BUFFER No 5B 5DH
81. S S BUSY HH 7 4 0 4 294 967 295 00000000H FFFFFFFFH INDEX PULSE DATA 0 00000000H SIGNAL INDEX DRIVE 1 2 4 pylpelpglp palplpllpo pylpelplp4palpalpllp9 1 TDD el NE sheet QL ee ee 22 4 2923 ee ee ee ee 216 D15 ee De 20 ul a 1 SPE
82. No 3EH 1 4 1 2 0 1 2 0 65 535 0000H FFFFH PICH DATA 65 535 FFFFH 3 4 D7 pe ps p4 p3 p2 pi1 po D7 pe Ds p4 p31 pn2 pi1 po 2 PE ER WA CRS 8 27 SW NE NIE EE RE 20 CODE 3FH PICH DATA No 3FH 1 4 1 2 0 2 3 4 LD7lpelpslp4lpslD2 pil D0 Dr De Ds D4 p3 D2 D1 no I OE IE UN UI 215 28 27 20 EXTERNAL COUNTER WRITE CODE 40H EXTERNAL COUNTER No 40
83. ICLK Vr GND Vi GNDoVm Vi 5 5V Vo CNDonym V 0 4V V 0 4V V 2 4V V 2 4V 1 OmA 1 V 5 5V MAX 10u A 2 GR Vpp 0V 3 85 5 07 f 1MHz 6 85 8 07 C5 SD 3 85 5 07 pF 6 85 8 07 Cizo 6 85 8 07 1 DC LVTTL 40KQ BUSSEL SERISEL SEL8 DN5 DNO TEST1 TEST2 5 V RESET CS SCS R SCLK W SDT A2 AO TICLK SYNC ALM INP ECUP ECDN HPUP HPDN ESTOP SSTOP IN3 INO LM LM LVTTL OCLK SDOOE
84. LOW SPEED SPEED DATA S SS 1 7 4 SIGNAL SCAN B DRIVE LOW SPEED DATA 7 5 SIGNAL INDEX DRIVE 4 294 967 295 FFFFFFFFH LOW SPEED DATA HIGH SPEED DATA 3 SIGNAL INDEX DRIVE
85. No 42H 1 4 2 80000000H 7FFFFFFFH 2 147 483 648 2 147 483 647 EXTERNAL COMPARATE DATA 0 00000000H 1 2 3 lplplalpihpd pe et TN 4 1 EXTERNAL COMPARATE DATA READ coDE 43H EXTERNAL COMPA RATE DATA No 43H 1 4 2 1 2 3 4 ppphplol mp pd odo hls wl ol te Falk esha 1 D NL i a 231 CE 22 4 22 3 CO 216 EX
86. SSTOP END STATUS SSSED Bit 1 SSTOP SSTOP ESTOP 20 Emergency Stop Inp ESTOP ESTOP H ESTOP END STATUS ESSED Bit 1 ESTOP ESTOP HP UP 15 Handy Pulser Up Input H 2 B
87. mk dh I CL INTERNAL COUNTER lt INTERNAL COMPARATE DATA IC G INTERNAL COUNTER gt INTERNAL COMPARATE DATA ECEL EXTERNAL COUNTER lt EXTERNAL COMPARATE DATA ECG EXTERNAL COUNTER gt EXTERNAL COMPARATE DATA SFLM INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA SFLM INTERNAL COUNTER lt SOFT LIMIT COMPARATE DATA DEVOV DEVIATION DATA gt DEVIATION COMPARATE DATA L BF EXTERNAL COUNTER INTERNAL COUNTER WRITE CODE 30H INTERNAL COUNTER No 30H 1 4 2 2 147 483 648 2 147 483 647 80000000H 7FFFFFFFH INTERNAL COUNTER 0 00000000H 1 2 3 4 ippo mpphpd
88. 16 9 HMC 4 1 1 INDEX PULSE DRIVE HIGH SPEED 1 16 a SPEED DATA 1 2 RATE B DATA 2 RATE A DATA X2 b S
89. LOW SPEED LOW SPEED 12 RATE A B DATA TINDEX PULSE DRIVE 12 S S BUSY H S SCW A B DATA S S S INDEX PULSE DRIVE 12 S 12 TINDEX PULSE DRIVE
90. S S Tup T cw S 9 SPEED DATA Tscw Tup Tscw Tscw Tup Tscw S 17 HMC41 1 F 1 1 11 1 HMC411 INP INP BUSY INP INP BUSY ALM ALM
91. CCW CW CCW Os a INO b INO C INO d INO 1 cy 1 152 129 43 945 12 ey X147 456 1296 5 625m 12 soy eX2 304 12 87 89 12 cy X576 12 21 9724 12 ye X73 728 12 2 8125m 12 H INO CCW C W SIGNAL SCAN A DRIVE SIGNAL SCAN A DRIVE i SIGNAL SCAN B DRIVE SIGNAL SCAN B DRIVE 63 HMC41 1 I F c INTERNAL COUNTER EXTERNAL COUNTER 0 00000000H
92. Pulse Sec 2 Pulse Sec EN Pulse Sec a Pe Sec 2 1 2 1 S 16 2 HMC 4 1 1 BUSSEL SERISEL SEL8 DN5 DNO TEST1 TEST2 1 HorL ESTOP SSTOP HH 6 3 HMC411 RANGE DATA LOW SPEED DATA RATE A DATA SCW A DATA 0 0 0 0 1 RATE B DATA SCW B DATA DIVIDE PULSE DATA gt INDEX PULSE DATA 71 E LOW
93. 1 2 3 4 ippo ii ppp mpd sad ho wl ol te Pah k tb esha onde Oana se INTERNAL COMPARATE DATA READ CODE 33H hr INTERNAL COMPARATE DATA No 33H 1 4 2 1 2 3 4 pejpsp sp plpelpsppsppllp spa ha tl a i ed hele Lae lal D31 ee 224 D23 216 D15 ee 28 D7 20 INTERNAL PRE SCALE DATA WRITE CODE 34H INTERNAL PRE SCALE DATA INTERNAL COUNTER No 34H 1 4 2 00000001HCFFFFFFFFH
94. No 26Hor27H CO 0 BUSY H SIGNAL SELECTOR WRITE CODE 14H BUSY HH SIGNAL INDEX DRIVE CODE 28H 29H CW CCW bs No 28Hor29H 1 C 4 1 4 BUSY HH SIGNAL SELECTOR WRITE COD
95. T T TT mi 18 cy X2 18 mi cy 105 HMC41 1 I F 18 HMC4 1 1 1 9 2 6 e9 6 6 9 6 6 ee eeeeeeeee 66 9 lt gt 0 80 0 4 19 2 6 0 ee 1 0 P 22 0 ee 6 0 160 180 60 120
96. FFFFFFFF HMC41 1 F RANGE DATA PRE BUFFER 4 095 OFFFH LOW SPEED DATA PRE BUFFER 1 0001H HIGH SPEED DATA PRE BUFFER 1 0001H RATE A B DATA PRE BUFFBR on ee 4 095 OFFFH SCW A B DATA PRE BUFRER ee ee 32 767 7FFFH SLOW DOWN REAR PULSE DATA PRE BUFFER 0 00000000H INDEX PULSE DRIVE PRE BUFFER_DATA ee 0 00000000H DIVIDE PULSE_DATA 0 00000000H d RESET RESETT EXTERNAL COUNTER ONE TIME CLEAR REQEST EXTERNAL COUNTER FULL TIME CLEAR REQEST EXTERNAL COUNTER LATCH REQEST Po I We 17 2 e RESET L RE SET
97. HMC4 1 1 4 67 HMC41 1 F unsigned long com_f4red short comm Short d Short sif_data unsigned long f4red_data 0 sif_data inp SIFW_ADDR sif data amp SIF_SCS_L SCS ON outp SIFW_ADDR sif_data F wrt DEVICE Device Number WRITE av S sif_wrt comm COMMAND WRITE f4red_data sif_red amp Oxff lt lt 24 1 D31 D24 READ f4red_data sif_red amp Oxff lt lt 16 2 D23 D16 READ f4red_data sif_red amp Oxff lt lt 8 3 D15 D8 READ f4red_data sif_red amp Oxff 4 D7 DO READ sif data SIF_SCS HH SCS OFF outp SIFW_ADDR sif_data return f4red_data
98. HMC411 CODE 20H 2AH 60H 61H HMC411 SYNC HH HMC 4 1 1 SYNCHRONOUS DRIVE START CODE 6CH CODE 20H 2AH 60H 61H SYNCHRONOUS DRIVE START CODE 6CH HMC411 CODE 20H 2AH 60H 61H HMC4 1 1 1 Bit 2 ON SYNCHRONOUS DRIVE START CODE 6CH 18 DRIVE START CODE 6CH 11 5 HMC411
99. S SPEED DATA s T T cy S scw ee 1 77 HMC41 1 F S 1 2 RATE B DATA lt RATE A DATA Xx 2 SCW A DATA SCW B DATA HMC 4 1 1 INDEX PULSE DRIVE a b S S S
100. No 3AH 1 2 2 147 483 648 2 147 483 647 80000000H 7FFFFFFFH 2 147 483 648 80000000H SOFT LIMIT COMPARATE DATA 4 1 2 3 Plpelpslp4palp2lpll9 lepslp appd plpepglp plpalpllp le tal TT 111HTHIII ee 231 ee 22 4 2 SOFT LIMIT COMPARATE DATA READ CODE 3BH SOFT LIMIT COMPARATE 000 1 4 No 3BH 2 1 2 3 4 dP dh eroolodl odosloalo oo TD Fool ol LY 23 1 4 3 5 CODE 3CH 9
101. 9 4 8 mm S 3 RATE B DATA S SCW A DATA H SCW B DATA SPEED DA RATE B DATA DATA S RATE A DATA S SP1 LOW SPEED SCW A SP2 HIGH SPEED SCW A SP3 LOW SPEED SCW B SP4 HIGH SPEED SCW B RATE A DATA 1 4 095 0001H 0FFFH RATE B DATA 1 4 095 0001H 0FFFH SCW A DATA S 1 32 767 0001H 7FFFH SCW B DATA S
102. BUSY HH SIGNAL SCAN A B DRIVE SIGNAL SCAN A HMC 4 1 1
103. 2 BUSY HH H OUT3 OUTO SCS 33 0UT3 OUTO Tss 33 SIGNAL WRITE CODE 68H SCS 103 HMC41 1 I F RESET OFF VECT DIR VECT DIR T 3 a swe 3 BUSY ON BUSY ON He on X2 15 UP CONST DOWN ON 34 SYNC ON Te X5 21 UP CONST DOWN ON 35 UP CONST DOWN ON Ts a pe 1 DIR PULSE PPLS ON 15 38 UP CONST DOWN ON T EK6 14 DIR PULSE 16 39 PPLS
104. MODE REGISTER 2 0 STRAIGHT ACCELERATE MODE INP PPCP SPEED 1 SPEED DATA ALM EMSEP 62 INTERRUPT SELECTOR DIGITAL FILTER ECUP ECDN HPUP HPDN FM LM I ALM INPE T IN 3 108 IN2 T IN1 0 INO T b
105. S 10 1 1 1 RATE n DATA x 4 DoNT Se Sec F EK ni TRS Hz MAX 40MHz 26 2144MHz RATE n DATA RATE A RATE B 1 4 095 0001H 0FFFH SPEED DATA TunirT TunirT TunirT a 8 Funiz Tuniz Funir Fd a RE RANGE DATA X RATE n DATA X 1 048 576 Pulse Sec RANGE DATA e 1 4 095 0001H OFFFH 14
106. 1 2 3 4 peplp palpaplp9 pelpslp alpllpl Ud a LM MI TT a A i D31 ee 224 92 3 ee ee ee ee 216 D15 ee 28 D7 20 SIGNAL WRITE CODE 68H No 68H 1 4 1 3 4 0 1 OUT3 OUTO L 2 57 D6 Ds D4T 53 52 Di no I OUT1 1 HH OUT2 0 OUT 3 SIGNAL READ CODE 69H EXTERNAL COUNTER No 69H 1 4
107. Sec Hz MAX 40MHz 26 2144MHz RATE A DATA 1 4 095 0001H 0FFFH SCW A DATA S 1 32 767 0001H 7FFFH a RATE A DATA Sec Tscw Tscw HMC41 1 I F 10 4 S S S _ RATE A DATA Xx SCW A DATA x 8 T scw Ct mc aE i S Sec F crk RATE A DATA T Tew Tuniz X SCW A DATA X 2 ARKko S Sec F erg Hz MAX 40MHz 26 2144MHz RATE A DATA 1 4 095 0001H 0FFFH SCW A DATA S
108. ShortSIFW_ADDR 0x0050 shortSIFR_ADDR 0x0051 HMC4 1 1 void sif_init Short sif_data sif data inp SIFW_ADDR sif_data SIF_SCS_H SCS OFF sif_data SIF_SCLK_H SCLK OFF outp SIFW_ADDR sif_data HMC4 1 1 1 void sif wrt short data short 1 Short d Short sif _datai sif_data inp SIFW_ADDR for i 7 i gt 0 i sif data amp SIF_SCLK_L
109. e 3 8Bit SCS HH 3 f 4 8Bit SCS H 4 g No h No 1 4 i No 1 4 1 j 1 4 S
110. 3 1 3 2 CPU NNN MM D MN ND D MN NN MN Nm NN NIN NN N NN N ey a 0 000000000 NN NN NN DRNNNNN DOoooodoodo EO EO a RONMNMM O00 N00 RMN HH HH HH HH HH HH HH HH HH HH HHHHHHHHHHHHHHH HHHHHHHHHHH HHHHHHHHHH HHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHH HHHHHH HHHHHHHHHHH HHHHHHHH HH HH HH HH HH HH HH HH HH HH 00 0 00 0 00 0 UUD HHH HHHHHHHHHHHHH HHHHHHHHHHH 2011 4 13 LSI RoHS
111. 5FH 1 4 PRE BUFFER 16 16 21 4 INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H CW CCW No 60 61H 1 4 1 4 INDEX PULSE DRIVE SDREQ HH BUSY BUSY L INDEX PULSE DRIVE 16 16 21 0 4 294 967 295 00000000H FFFFFFFFH
112. Bit 29Bit 1 Bit 1 2 3 3 3 13 dont care 6 2 No
113. S S DATA ERROR 10 HIGH J 2 147 483 647 INDEX PULSE INDEX PULSE DRIVE ABSOLUTE DRIVE INDEX PULSE DATA READ CODE 2DH ABSOLUTE DRIVE INDEX PULSE DATA OVERRIDE CODE 1 o 8 HMC 4 1 1
114. 1 2 8 4 1 6 3 No 1 2 8 4 SCS SCLK SDI SDO 6 4 a 1 No 8Bit SCS b 2 8Bit SCS c 1 8Bit SCS HI 1 d 2 8Bit SCS 2
115. 3 4 D7 pe ps p4 p3 np2 p1 po LD7lpelpslp4lpslpzlpilpo iMP NH Ll HIGH SPEED DATA PRE BUFFER WRITE 1CODE 54H HIGH SPEED DATA PRE BUFFER No 54H 1 4 1 2 0 1 1 65 535 0001H FFFFH HIGH SPEED DATA PRE BUFFER 1 0001H PRE BUFFER 16 16 21 3 4 D7 pe ps p4 p3 np2 p1 po LD7lpelpslp4lpslpzlpilpo ee i Ue i 54 HIGH SPEED DATA PRE BUFFER READ ICODE 55H HIGH SPEED DATA PRE BUFFER No 55H 1 4 1 2 0 PRE BUFFER 16 16 2
116. DEVIATION COMPARATE DATA DR VE STATUS READ CODE 6AH 1 H H 21 H Ey HMC41 1 I F 11 2 1 HMC 4 1 1 1 6 INP ALM LM LM ECUP ECDN HPUP HPDN INO IN3 a 2 HMC411 2 CD
117. ECUP ECDN 9 HMC41 1 I F HPUP HPDN Th Tf pp Thnppop gt HPUP HPDN L L HPUP HPDN 2 HPUP HPDN Th Ti T pa T A Tab TS IN3 lt INO SIGNAL SCAN A DRIVE SIGNAL SCAN B DRIVE SIGNAL INDEX DRIVE IN3 INO a i n h w in 1 WwW IN3 lt INO EXTERNAL COUNTER 1N3 IN0 clrw IN3 INO L clrw IN3 lt INO EXTERNAL COUNTER IN3 INO an TT IN3 IN0 ESTOP SSTOP ESTOP SSTOP
118. INTERNAL PRE SCALE DATA FFFFFFFFH YY Ny 5 1 2 3 lll pp IIIIIIII NN 1 INTERNAL PRE SCALE DATA READ CODE 35H INTERNAL PRE SCALE DATA No 35H 1 4 2 1 2 3 4 doo lol pyjpepspMpslppilpg oases alba dd a eal a QD3 eee ee 22 4 92 3 ee ee ee ee 216 D15 ee 28 D7 20 47 HMC41 1 I F DEVIATION COMPARATE DATA WRITE CODE 36H DEVIATION COMPARATE DATA No 36H 1 4 1 2 0 1 2 0 32 767 0000H 7FFFH DEVIATION COMPAR
119. TU 11 14 HMC 4 1 1 EXTERNAL COUNTER EXTERNAL COMPARATE DATA 32Bit EXTERNAL COMPARATE DATA 2 DRIVE STATUS READ CODE 6AH 7FFFFFFFH 2 147 483 647 gt 00000000H 0 gt FFFFFFFFH 1 gt 80000000H 2 147 483 648 20 11 15 J 1 HMC 4 1 1 EXTERNAL COUNTER
120. No 17H 1 4 1 2 0 3 D7 56 D5 54T D3 D2 D1T po LM LM ALM INP BUSY HH 39 HMC41 1 I F 4 D7 DoT 55 54 53 52 51 DO _ ICEL INTERNAL COUNTER lt INTERNAL COMPARATE DATA IC G INTERNAL COUNTER gt INTERNAL COMPARATE DATA ECEL EXTERNAL COUNTER lt EXTERNAL COMPARATE DATA ECG EXTERNAL COUNTER gt EXTERNAL COMPARATE DATA SFLM INTERNAL COUNTER gt SOFT LIMIT COMPARATE DATA SFLM INTERNAL COUNTER lt SOFT LIMIT COMPARATE DATA DEYOYV DEVIATION DATA gt DEVIATION COMPARATE DATA L BF EXTERNAL COUNTER TINTERRUPT SELECTOR WRITE CODE 16H DIGITAL FILTER WRITE CODE 18H
121. PULSE DIR U PDOWN ECUP ECDN UP DOWN PPCP 3 3 HH H SPEED DATA SPEED DATA 1 0 1 DOWN ECL CONST ECG VECT ICG INDEX PULSE DRIVE SIGNAL INDEX DRIVE ABSOLUTE DRIVE gt DOWN CONST O UP H VECT DOWN ECL WP ICG 36 EXTE EXTE EXTE EXTE TNTE TNTE INTE INTE R R H DEC
122. 1 4 095 0001H OFFFH RATE B DATA 1 4 095 0001H 0FFFH RATE A RATE B DATA 16 16 15 16 16 15 12 1 2 RATE B DATA lt RATE A DATA X2 9 3 S
123. 1 ICG ICL SFLM SFLM DIR PULSE 15 1CG SFLM 1CL SFLM Ts4 dE 15 DIR 2 ECG ECL Up Down ECUP ECDN 25 ECG ECL Tszs Tes 25 Up Down Up Down ECG ECL 2 ECUP ECDN 26 ECG ECL T 6 T 26 26 2 2 DEVOV DIR PULSE 15 ECUP ECDN 25 ECUP ECDN 26 DEVOV 15 DIR 2 25 Up Down Up Down 26 2 2 101 HMC41 1 F PPCP DIR PULSE 15 PPLS ECUP ECDN 25 ECUP ECDN 26 Tso PPCP 15 DIR
124. 3 4 0 1 57T D6T D5T 541 0531 52T D1T D0 NPB LM 1 ALM 0 INP HPDN HPUP 1 HH ECDN 0 L ECUP 1 2 57 D6 D5 D4 53 52 D1 50 OUT 1 OUT 2 OUT 3 1 INO 0 IN1 IN2 IN3 DRIVE STATUS READ CODE 6AH
125. HMC 4 1 1 HPUP HPDN 4 HPUP HPDN 2 1 HPUP HPDN 2 2 HPUP HPDN 2 4 HPUP HPDN HPUP HPDN INDEX PULSE DRIVE BUSY 1
126. 1 10 2 S NS x S PB SP A 0 Sec S PA SEGA 9 EB eer 10 3 S S S _ RATE A DATA x SCW A DATA x 8 Tscw S Sec F crk RATE A DATA T Tseow Tuniz X SCW A DATA X 2 0 0 S
127. 2 3 4 Dr pe ps pps pa pi pd pr pe ps pd ps pa nino pylpelpslp4p3palpllpd pylpelpslp4p3lp2lpilp9 1 TIT TT Pb SEQUENCE DRIVE REQUEST RESET CODE 63H INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H No 63H SDREQ SDREQ H DIVIDE PULSE DATA WRITE CODE 64H DIVIDE PULSE DATA No 64H 1 4 1 4 2 0 4 294 967 295 00000000H FFFFFFFFH INDEX PULSE DRIVE
128. CCW DF a CW usr 35 000 INDEX PULSE DRIVE b IN2 H 30 000 INDEX PULSE DRIVE C Smovs IN2 L 65 000 INDEX PULSE DRIVE 64 1 15 2 CC define DEVICE 0x00 DEVICE NUMBER define SIF_SCS_H 0x04 SCS OFF OR BIT define SIF_SCS_L 0xFB SCS ON AND BIT define SIF_SCLK_H Ox02 SCLK OFF OR BIT define SIF_SCLK OxFD SCLK ON AND BIT
129. ICLK OCLK PPCP ppon LBF ICLK OCLK LBF 96 OCLK 1 MIN M o oO OCLK L VECT DIR lt o oO o BUSY ON BUSY OF F SDREQ ON H SDREQ OFF UP CONST DO WN ON UP CONST DO WN 0 UP CONST DO WN OFF DIR PULSE PPLS ONE H DIR PULSE PPLS OFF DIR PULSE a INT ON INT OFF 1CG ICL ECG ECL SFL SFLM cm ch DEVOV ovch HPMD ON hp on HPMD OFF hpof SEP ON H epon SEP OFE e p of PCP
130. S S RATE A DATA S SCW A DATA SPEED DATA RATE A DATA SP1 LOW SPEED SCW A SP2 HIGH SPEED SCW A gt 1 4 095 0001H OFFFH E 1 32 767 0001H 7FFFH F 16 16 15 RATE A DATA ee SCW A DATA S mr UD om N 1 RATE A SCW A DATA 12 1 S
131. S Sec T x8 X8 SCS SCLK F F F k 2 HMC4 1 1 RANGE DA D IR RA HMC 4 1 1 MHz HMC 4 1 1 RANGE DATA EE TA F EX F PULSE 2 2 GE DATA
132. TICLK OCLK BUSY SDREQ ICLK OCLK UP CONST DOWN 94 1 DIR PULSE PPLS 11 11 11 11 DIR PULSE 15 DIR PULSE 15 L ms a DIR PULSE 16 pof 15 DIR 2 16 2 INT ICLK OCLK TNT 17 HZ 17 4 E INT ICG ICL ECG ECL SFLM SFLM 1CLK OCLK 1CG ECG SFLM ICL ECL SFLM DEVOV ICLK OCLK DEVOV 95 HMC41 1 I F 77 NN HPMD ICLK OCLK HPMD in NM EMSEP ICLK OCLK EMSEP 777 Nw PPCP
133. BUSY LOW SPEED LOW SPEED INDEX PULSE DRIVE DRIVE SIGNAL INDEX DRIVE ABSOLUTE 83 HMC41 1 F 16 16 A
134. gb T X2 19 X2 18 DIR PULSE OFF HI os ye 14 UP CONST DOWN OFF 15 DIR PULSE Ts 2 UP CONST DOWN OFF 16 UP CONST DOWN OFF eb9 X3 13 BUSY OFF 36 INP OR ALM ON he eS X5 25 BUSY OFF 37 BUSY OFF INT ON TT eh 1 3 END STATUS READ T pp X5 28 INT OFF 17 A De Tex2 1 X6 24 SDREQ ON UP CONST DOWN OFF X6 15 SDREQ OFF SDREQ OFF Ty Tl5 ed UP CONST DOWN ON DIR PULSE OFF es ye 14 EMSEP ON 15 DIR PULSE PS ne Te Sa E12 EMSEP ON 16 EMSEP 4 11 INITIAL CLEAR ia Et X6 70 OFF HANDY PULSER MODE SET Ts T X2 1 X6 24 HPMD ON HANDY PULSER MODE RESET 5 Ts eX X6 22 HPMD OFF DIR PULSE ON ee 3 8 X3 15 ICG ICL SFLM SFLM
135. pm be S S 7 4 5 16 16 10 1 65 535 0001H FFFFHD HIGH SPEED DATA 1 0001H BUSY H 4 D7 pe ps p4 p3 np2 p1 po LD7lpelpslp4lpslpzlpilpo JP WI IM Pe a A 2 28 27 20 HIGH SPEED DATA READ CODE 05H HIGH SPEED DATA No 05H 1 4 1 2 0 3 4 TT D7 pe ps p4 p3 p21 p1 po RATE A B DATA WRITE CODE 06 08H RATE A B DATA No 06Hor08H 1 4 1 2 0 1
136. 15 ECUP ECDN ECG ECL 25 Tse 3 7 X5 23 ECUP ECDN ECG ECL 261T TX 3 X5 21 104 DIR PULSE ON DEVOV 1 ECUP ECDN DEVOV ECUP ECDN DEVOV 26 DIR PULSE PPLS ON PPCP ON 15 ECUP ECDN PPCP ON 25 ECUP ECDN PPCP ON 26 PPCP INO IN3 LBF ON 27 E C LATCH REQUEST EXTERNAL COUNTER LATCH DATA READ LBF OFF INO IN3 ECG ECL HPUP HPDN VECT DIR HPUP HPDN VECT DIR SIGNAL WRITE 0UT3 OUTO 14 15 16 17 25 26 27 29 30 31 34 35 36 37 38 39 nSec DIR
137. 2 200 400 pps 5 500 1000 pps 000 2000 pps 0 0 EN HMC411 RM Froy F Flow F Oe Low HMC 4 1 1 L S I 100
138. SSCED Slow Down Stop Command End CODE 1EH 1 ESCED Emergency Stop Command End CODE 1FH 1 ALMED Alarm Signal End ALM 1 DTEED Data Error End 1 SYNCHRONOUS DRIVE START CODE 6CH MODE REGISTER 2 WRITE CODE 12H SIGNAL SELECTOR WRITE CODE 14H SYNCHRONOUS DRIVE START CODE 6CH gt 6CH CODE 80H gt FFH HMC 4 1 1 Gi 1 Q FF es
139. Z 1 FE 1 E B INT SSTOP ESTOP SYNC IN2 IN3 Ff 0UT2 0UT3 VECT ICG6 UP ICL CONST ECG DOWN ECL ICLK 2 oo
140. LOW SPEED DATA HIGH SPEED DATA SCw A gt _HIGH SPEED LOW SPEED S 2 S SWB gt TT ee S A 2 x HIGH SPEED LOW SPEED x SCW n Sec F CLK RATE n RATE A RATE B 9 SR SCW A SCW B S SR DRIVE Sy yr 85 HMC41 1 I F DR 16 19 HMC41 1 BUSY UP CONST
141. PPCP SPEED 1E F SPEED DATA TR A EA Ab i NE ALM EMSEP SIGNAL SELECTOR ee LM SYNC EXTERNAL COUNTER IN0 EXTERNAL COUNTER IN0 INTERRUPT SELECTOR DIGITAL FILTER 80 1 16 12 HIMC 4 1 1 INDEX PULSE DRIVE RS 1 INR AO i DE SPOT RE CODE 1AH
142. H T VH 5 Device No Input 1 D0O9 51 DO8 8 5 DO1 47 DOO0 4 P INDEX PULSE DRIVE INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H SDREQ L HMC41 1 I F CMBSY 39 Command Busy Output CPU BUS I F SERIAL IFS CPU BUS 1I F SYNC SYNC L
143. mpd i spa D TD 1 D la INTERNAL COUNTER READ CODE 31H INTERNAL COUNTER No 31H 1 4 2 1 2 8 4 INTERNAL COMPARATE DATA WRITE CODE 32H TINTERNAL COMPARATE DATA TINTERNAL COUNTER No 32H 1 4 2 2 147 483 648 2 147 483 647 80000000H 7FFFFFFFH INTERNAL COMPARATE DATA 0 00000000H
144. 3 4 lool os odo oo ppppp ppe psi DIGITAL FILTER WRITE CODE 18H HANDY PULSER MODE SET CODE 1AH No 1AH 1 4 1 4 CODE 20H 2AH 60H 61H HPUP HPDN INDEX DRIVE BUSY 0 4 294 967 295 00000000H FFFFFFFFH MODE REGISTER 1 WRITE CODE 10H 16 16 12 1 2 3 4 od EE ea eh ea ee D31
145. L 16 16 17 10 H L 16 16 17 ml 22 EXTERNAL COUNTER EXTERNAL COUNTER 0 fh 11 ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST Loe 19 11 ONE TIME CLEAR REQUEST H 0 0 0 0 0 1 0 1 1 0 0 0 1 1 0 1 1 1 1 1 1
146. 16 16 15 1 65 535 0001H FFFFH LOW SPEED DATA 1 0001H 3 1 4 Tpelpslpelpslpzlmlpo LD7lpelpslp4lpslD2 pil po MM CE U EN hl J Fi He Dl 28 27 20 CODE 03H LOW SPEED DATA No 03H 1 4 1 2 0 3 4 LD7lp6elpslp4lpslD2 pil DO LD7lp6elpslp4lpslD2 pil po i WW 215 28 27 20 30 1 CODE 04H HIGH SPEED No 04H 1 C 4 1 2 0 1 Io BUSY HH HIGH SPEED DATA
147. SPEED DATA No 2EH 1 4 1 2 0 BUSY L 0 3 4 LD7lpelpslp4lpslD2 pil DO LD7lpelpslp4lpslD2 pilD0 I EE CEE a a A 28 27 20 HMC41 1 F INTERRUPT FLAG READ CODE 2FH INT No 2FH 1 4 1 2 0 1 Bit 1 3 D7 oT 55 54 53 52 D1 no LM 0 LM ALM INP BUSY 4 57 56 55 D4 53 52 D1 no ml
148. 16 16 14 E 5 2 E HMC 4 1 1 TINDEX PULSE DRIVE SR H 1 2 11 23 HH E INDEX PULSE DRIVE 16 16 12 HMC411 PICH PULSE COUNTER 16Bit Up Down COUNTER PICH PULSE DATA 16Bit PICH PULSE COUNTER PICH PULSE DATA n
149. BUSY HH 87 HMC41 1 F AF INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H A B INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H A B C INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H B C D INDEX PULSE DRIVE PRE BUFFER WRITE CODE 60H 61H C D INDEX PULSE DRIVE PRE BUFF
150. 1 32 767 0001H 7FFFH Tunir RATE A DATA Sec SPEED DATA lt RATE A DATA 10 5 S S S _ RATE B DATA x SCW B DATA x 8 T scw ti S Sec F erg RATE B DATA Tseow Tunirz X SCW B DATA Xx 2 0 S Sec Re Hz MAX 40MHz 26 2144MHz RATE B DATA 1 4 095 0001H 0FFFH SCW B DATA S 1 32 767 0001H 7FFFH Tunir RATE B DATA Sec SPEED DATA RATE B DATA Tscw Tscw 16 1 10 6 S
151. 2 25 Up Down Up Down 26 2 2 LBF ON INO IN3 27 Oo INO IN3 27 LBF Tsa 27 EXTERNAL COUNTER LBF O FF SCS 28 LBF Tss 28 E C LATCH REQUEST CODE 4CH EXTERNAL COUNTER LATCH DATA READ CODE 4EH SCS EXTERNAL COUNTER IN0 IN3 29 NT L ECG ECL Tss 29 EXTERNAL COUNTER 102 1 HANDY PULSER 14 30 31 32 HPUP HPDN 30 HPUP HPDN 31 VECT DIR 14 BUSY 32 DIR 2
152. 224 D223 216 D15 ee D7 20 HANDY PULSER MODE RESET CODE 1BH No 1BH HPUP HPDN 41 HMC41 1 F HANDY PULSER DATA READ CODE 1CH No I1CH 1 4 4 Eel tal 1 2 CODE 1DH No I1DH
153. 26 13 13 1 HMC4 1 1 105 CODE 20H 2AH BUSY HH BUSY L 7 4 5 16 16 10 16 16 15 16 16 21 6 RANGE DATA WRITE RANGE DATA READ OW SPEED DATA WRITE OW SPEED DATA READ HIGH SPEED DATA WRITE HIGH SPEED DATA READ RATE A DATA WRITE RATE A DATA REA RATE B DATA WRITE RATE B DATA REA SCW A DATA WRITE SCW A DATA READ SCW B DATA WRIT SCW B DATA READ LSE DATA WRITE SLOW DOWN REA LSE DATA READ MODE REGISTER 1 W E MODE MODE MODE SIG SIG
154. HIGH SPEED 0 0 0 CONS UP 1 16 6 16 6 16 1 0277 BUSY TH S HIGH SPEED DATA WRITE CODE 04H INDEX PULSE DATA OVERRIDE CODE 2CH STER 2 WRITE CO
155. s tpw 92 LM LM LM LM se 1mtw LM LM L RESET ICLK HH ICLK L MM ICLK J SYNC ALM INP MB ECUP ECDN ECUP ECDN H P ECDN ME 6 MI HPUP HPDN H 7 1 5 PUP HPDN 8 y X41 PDN HPUP 8 T X4 5 3 INO 9 1 5 3 INO L 9 Mb 1 5 3 INO Ep 3 IN0 gl ESTOP SSTOP LM LM J nSec 5 Up Down 6 2 2 16 16 6 7 8 2
156. 1 0 1 O1OIO 1O 1O1O HMC41 1 I F 16 5 2 HMC 4 1 1 ECUP ECDN 2 1 2 4 Up Down 1 Up Down ECUP A ECDN B 2 Up Up ECUP A ECDN B 4 ECUP A ECDN B Up Down 16 6 2 ECUP ECDN 2 2
157. SCLK 1 sk _ XX 1 SD1 x 11 SDOT HZ SDOOE Te Te ay Ta ord dont care SCS 1 11 i 0 a si 6 g mE 11 11 00 ee 4 SDOOE lt gt T me lt gt au dont care 89 HMC41 1 I F SCS sc sh HH L SCLK SDI SCS OFF SDO DO S S SDOOE ON S S OFF DO HZ
158. SDOOE OFF 90 1 17 2 RESET RESET rsw ICLK TCLK SYNC SYNC S nw 4 ALM INP ALM INP SE Nm TT ds tw ALM INP L Ta stw ECUP ECDN Up Down ECUP ECDN Up Down ECUP ECDN L ECUP ECDN 2
159. ps p4 np3 p2 p1 po UI ly ds sd ll bs 0 DL es 28 DT a CE i Rts Ste 20 LOW SPEED DATA PRE BUFFER WRITE CODE 52H LOW SPEED DATA PRE BUFFER No 52H 1 4 1 2 0 1 1 65 535 0001H FFFFH LOW SPEED DATA PRE BUFFER 1 0001D PRE BUFFER 16 16 21 3 4 D7 pe ps p4 p3 np2 p1 Do LD7lpelpslp4lpslpzlpilpo WU II a 7 215 28 27 29 LOW SPEED DATA PRE BUFFER READ CODE 53H LOW SPEED DATA PRE BUFFER No 53H 1 4 1 2 0 PRE BUFFER 16 16 21 Ilis
160. 1 k INDEX PULSE DRIVE CODE 20H 21H CW CCW No 20Hor21H 1 4 1 4 BUSY H 0 4 294 967 295 00000000H FFFFFFFFH T 1 2 3 4 pp sp psp sp ETTTTI ELECT MRI Wl el D31 ee 224 D223 216 D15 28 D7 20 SCAN DR IVE CODE 22H 23H CW CCW NGo 22Hor23H
161. 66 sif data inp SIFW_ADDR sif data amp SIF_SCS_L SCS ON outp SIFW_ADDR sif_data sif wrt DEVICE Device Number WRITE sif_wrt comm COMMAND WRITE sif_wrt data gt gt 24 amp Oxff 1 D31 D24 WRITE sif_wrt data gt gt 16 amp Oxff 2 D23 D16 WRITE sif_wrt data gt gt 8 amp Oxff 3 D15 D8 WRITE sif_wrt data amp Oxff 4 D7 DO WRITE sif_data SIF_SCS HH SCS OFF outp SIFW_ADDR sif_data HMC411 2 void com_h2wrt short comm unsigned short data Short dj short sif_ data sif_data inp SIFW_ADDR sif_data amp SIF_SCS_L SCS ON outp SIF
162. DIVIDE PULSE DATA BUSY DIVIDE PULSE DATA 0 00000000H DIVIDE PULSE DATA 0 00000000H 16 16 20 ul uy 3 1 2 3 4 pypelp hg pylpelplppghpahple pypelpslp pahpalpllpg ye a il ear he Mh alesse 231 ee ee 22 4 22 3 ee ee 216 215 28 2 7 20 DIVIDE PULSE DATA READ CODE 65H DIVIDE PULSE DATA No 65H 1 4 2
163. HMC 4 1 1 INDEX PULSE DRIVE DIVIDE PULSE DATA INDEX PULSE DATA UP CONST DOWN 1 0 HMC41 1 INDEX PULSE DRIVE 1 INDEX PULSE DATA DIVIDE PU INDEX PULSE DATA DIVIDE PU INDEX PULSE DATA DIVIDE PU HMC 4 1 1 1 HMC41 1 2 HMC411 INDEX PULSE DATA 1 HIGH SPEED DATA LOW SPE 16 2 HMC
164. S ASYMMETRICAL S CURVE ACCELERATE MODE BUSY L CODE 20H 2AH 60H 61H INP ALM BUSY H CODE 20H lt 2AH 60H 61H INP BUSY CODE 20H 2AH 60H 61H 35 HMC41 1 I F PPCP PPCP PPLS UP PPCP
165. 0 1 2 7 a 0 RS DD ea Down 0 Im mc1 2 1 0 nnh INTERNAL PRE SCALE DATA FFFFFFFFH 32Bit 11 12 HMC411 SOFT LIMIT COMPARATE DATA 32Bit SOFT LIMIT COMPARATE DATA 2 DRIVE STATUS READ CODE 6AH 7FFFFFFFH 2 147 483 647 gt 00000000H 0 gt FFFFFFFFH 1 gt 80000000H 2 147 483 648
166. 1 2 3 1 4 lpelpalp4p3lpalpllp9 pelpmp sppllpl plpelpmpMpalpahpllpg TD 1 D Diallo a sls ole D31 ee es 224 D23 216 D15 ee 28 D7 20 57 HMC41 1 F DIVIDE PULSE COUNTER READ CODE 66H DIVIDE PULSE COUNTER No 66H 1 4 DIVIDE PULSE COUNTER 0 DIVIDE PULSE COUNTER 2
167. BUSY SDREQ VECT ICG UP 1CL CONST ECG DOWN ECL DIR PULSE PPLS LBF HPMD EMSEP SFLM SFLM DEVOV PPCP OUT3 OUTO 3STATE LVTTL SDO 5 V TNT CMBSY 5 V D15 D00 HMC41 1 I F 4 TOP VIEW 30 29 28 26 25 24 23 Man ea ls DEVOV VER 71 70 69 68 67 65 64 63 ee eae ole lke 02 01 100 98 97 95 2 1 37 74 103 20 38 75 93 60 19 EEE 39 76 105 92 59 18 40 77 58 17 41 78 107 57 16 Re 7 1 3 80 81 87 88 GND D15 4 5 46 47 48 49 W SDI R SCLK DO05 2 3 4 5 6 heal 5 11 00 0 10 OOOOOO OOOOOO OOOOOO OOO OOO OOO OOO OOO OOO OOOOOO OOOOOO O00000 11 00 0 10 OOOOOOOOQ OOOOOOOO0 OOOOOOOODO NWRO OO No 0 3 MEKJHRGEEDCEA INDEX MARK INDEX MARK 0 35 0 06 1 46 0 10 0 05 40 50 0 19 108Pin FPBGA HMC411 JA
168. CODE 14H 38 INTERRUPT SELECTOR WRITE CODE 16H INT No 16H 1 4 1 2 0 1 1 A 1 INT L INT BUSY HH INT L INT END STATUS READ CODE 6BH CODE 20H 2AH 60H 61H INT
169. COUNTER LATCH REQUEST No 4CH LATCH REQUEST SIGNAL SELECTOR WRITE CODE 14H EXTERNAL COUNTER EXTERNAL COUNTER EXTERNAL COUNTER LATCH BUFFER LBF HH BF HH LATCH REQUEST H L BE EXTERNAL COUNTER LATCH DATA READ CODE 4EH LBF EXTERNAL COUNTER SIGNAL SELECTOR WRITE CODE 14H LATCH REQUEST E C LATCH REQUEST RESE
170. L ICL 63 Up 0utput Internal Counter Low Out UP ICL H 0 TERNAL COUNTER lt INTERNAL COMPARATE DATA UP ICL H TERNAL COUNTER INTERNAL COMPARATE DATA UP I C CONST ECG H EXTERNAL COUNTER gt EXTERNAL COMPARATE DATA CONST ECG H EXTERNAL COUNTER EXTERNAL COMPARATE DATA DD CONST ECG L DOWN ECL 24 Down Output A External Counter Low DOWN ECL EXTERNAL COUNTER lt EXTERNAL COMPARATE DATA DOWN ECL H EXTERNAL COUNTER 3 EXTERNAL COMPARATE DATA DOWN ECL L 24 1
171. No 18H 1 4 0 1 2 3 4 Dd EE a 1 Co to a EXTERNAL COUNTER 1 0 ECUP ECDN HPUP HPDN 1 LM LM 2 ALM I NP 2 TIN3 2 IN2 2 IN1 2 I NO 2 o 40
172. ON ppon PCP OF F p pof BF ON bf on Ca GH Ca NCTC I a NCC I CC J le ab sla eb sl els ia Sal sll eal al fabs Lb bbe sb b bl ad 14 15 16 17 E E L L BF OF FH DIR DIR 2 3 H ololoINSINSIolQSlolololQSIERIRIN IoolololoI g 0 0 oo ko lo a ol oo roo ol ol oo ol al el ol biof 5 2 E INT H 97 HMC41 1 I F 17 4
173. RANGE DATA LOW SPEED DATA HIGH SPEED DATA 3 F Funir Pulse Sec pps RANGE DATA X 262 144 Frow Funir X LOW SPEED DATA Pulse Sec pps Frem FuNiT X HIGH SPEED DATA Pulse Sec pps Folk 9 Hz MAX 40MHz 26 2144MHz RANGE DATA 1 4 095 0001H 0FFFH LOW SPEED DATA 1 65 535 0001H FFFFH HIGH SPEED DATA 1 65 535 0001H FFFFH NOW SPEED DATA SPEED DATA Fruow Fuui X NOW SPEED DATA Pulse Sec pps RANGE DATA LOW SPEED DATA HIGH SPEED DATA
174. SCLK ON d data gt gt i amp 0x01 sif_data amp OxFE SDI OFF sif_data d SDI SET outp SIFW_ADDR sif_data sif data SIF_SCLK_H SCLK OFF outp SIFW_ADDR sif_data 65 HMC41 1 F V HMC411 1 unsigned long sif_red short 1 Short d Short sif_data unsigned long red_data 0 sif_data inp SIFW_ADDR for i 7 i gt 0 i sif data amp SIF_SCLK_L SCLK ON outp SIFW_ADDR sif_data sif data SIF_SCLK_H SCLK OFF outp SIFW_ADDR sif_data d inp SIFR_ADDR amp 0x01 SDO GET red data d lt lt 1 Read Data Set return red_data V
175. SPEED DATA gt HIG HIGH SPEED DATA 0 0 1 E 1H L HT S PEED DATA o 0 1 HMC41 1 F a b CODE 20H 2AH 60H 61H STATUS DTEED Bit 1 B
176. 1 3 4 D7 pe ps p4 p3 p2 p1 po D7 pe ps p4 np3 p2 p1 po NE RA EE MMNU RATE A B DATA PRE BUFFER WRITE CODE 56 58H RATE A B DATA PRE BUFFER No 56 58H 1 4 1 2 0 1 1 4 095 0001H 0FFFHO RATE A B DATA PRE BUFFER 4 095 OFFFH PRE BUFFER 16 16 21 3 4 LD7lpelpslp4lpslpzlpilpo D7 pe ps p4 Dp3 p2 p1 po 211 28 27 20 RATE A B DATA PRE BUFFER READ CODE 57 59H RATE A B DATA PRE BUFFER No 57 59H 1 4 1 2 0
177. 256X4 26 2144X105Hz 39 0625z Tup Ti 20 000 1 000 0 7421875 RATE B DATA 4 095 0FFFH SCW A DATA 32 767 7FFFH SCW B DATA 32 767 7FFFH D MODE REGISTER 1 2 D R CW H PULSE CCW H 1INP HH ALM L LM L LM L EXTERNAL COUNTER 2 2 2 2
178. 47 483 647 80000000H 7FFFFFFFH SOFT LIMIT COMPARATE DATA 2 147 483 647 7FFFFFFFH 1 2 3 4 pd pppd ps 1 11III ED D UR A A i SOFT LIMIT COMPARATE DATA READ 1CODE 39H SOFT LIMIT COMPARATE DATA No 39H 1 4 2 1 2 3 4 pilpelpslp4palpglpilpg pr pa ps pa ps pa2 pi po prlpelpslp4palpalplpg TT PbD ED D ED D31 ee 224 D223 216 D15 ee 28 D7 20 48 CODE 3AH CCW 4 SOFT LIMIT COMPARATE DATA
179. ATA WRITE CODE 04H 4 SPEED DATA 7 2 SCAN DRIVE LOW SPEED DATA HIGH SPEED DATA SCAN DRIVE HIGH SPEED DATA WRITE CODE 04H 5 SPEED DATA HIGH SPEED S 1 7 3 SIGNAL SCAN A _ DRIVE LOW SPEED DATA HIGH SPEED ATA 3
180. ATE DATA 32 767 7FFFH 3 4 D7 pe ps p4 p3 np2 p1 Do LD7lpelpslp4lpslpzlpilpo ro WU kd D14 38 27 DEVIATION COMPARATE DATA READ CODE 37H DEVIATION COMPARATE DATA No 37H 1 4 1 2 0 2 3 4 LD7lpelpslD4lp3 pz pilDo p7 pe ps p4 p3 p2 D1 po Be le AU ale i 0 D14 28 SOFT LIMIT COMPARATE DATA WRITE CODE 38H SOFT LIMIT COMPARATE DATA CW No 38H 1 4 2 2 147 483 648 2 1
181. CPUI CODE 2FH 11 6 ee RR a 4 EXTERNAL COUNTER EXTERNAL COUNTER STGNAL SCAN A DRIVE SIGNAL SCAN B SIGNAL IND 1 EX DRIVE 1 SYNC SYNCHRONOUS INT
182. CS L SCLK SDO k 1 4 SCS SDO 2 2 SCS HMC41 1 F 7 HMC4 1 1 6 INDEX PULSE DRIVE 1 4 294 967 295 FFFFFFFFH LOW SPEED DATA HIGH SPEED DATA 3 INDEX PULSE DRIVE INDEX PULSE DATA OVERRIDE CODE 2CH HIGH SPEED D
183. DE 12H MODE REG 16 10 HMC411 9 BUSY BUSY H F HIGH SPEED DATA S S gt S S S INDEX PULSE DRIVE
184. DOWNBH VE STATUS READ CODE 6AH H EE 0 0 0 0 1 0 0 0 4 1 1 0 0 1 1 0 1 0 0 1 1 0 1 1 0 4 16 20
185. E 14H i BUSY HH 0 4 294 967 295 00000000H FFFFFFFFH 1 2 3 4 D7 oe os oaloslo2lo lo pepslp pglpahpllpg TD Pb DDN Pb D31 ee 224 D223 216 D15 ee 28 D7 20 ABSOLUTE DRIVE CODE 2AH Oe ed No 2AH 1 4 1 4 BUSY 2 2 147 483 648 2 147 483 647 80000000H 7FFFFFFFH TINTERNAL COUNTER
186. E SELECT SIGNAL SELECTOR WRITE com_wrt 0x27 SIGNAL SCAN B DRIVE end_chk DRIVE END CHECK LAST DRIVE com_12wrt 0x14 0x4000 INO J EDGE SELECT SIGNAL SELECTOR WRITE com_wrt 0x26 SIGNAL SCAN B DRIVE end_chk DRIVE END CHECK return 0 HMC411 void addr_set void com_f4wrt 0x30 0 INTERNAL COUNTER 0 WRITE com_f4wrt 0x40 0 EXTERNAL COUNTER 0 WRITE HMC411 void work_exe void com_f4wrt 0x20 35000 INDEX PULSE DRIVE 35 000PULSE end_chk DRIVE END CHECK while com_h2red 0x69 amp 0x0040 0x0000 IN2 H WAIT com_f4wrt 0x20 30000 INDEX PULSE DRIVE 30 000PULSE end_chk DRIVE END CHECK while com_h2red 0x69 amp 0x0040 0x0000 IN2 L WAIT com_f4wrt 0x21 65000 INDEX PULSE DRIVE 65 000PULSE end_c
187. ED DATA 44 b 2 SPEED DATA c 3 HIGH SPEED SPEED DATA INDEX PULSE DATA READ 1 CODE 2DH INDEX PULSE DATA No 2DH 1 4 4 ee 1 2 Pb TD D NOW SPEED DATA READ CODE 2EH
188. ER WRITE CODE 60H 61H DIVIDE PULSE DATA WRITE CODE 64H A D 16 22 SDREGQ SDREQ CPU TLI O CPU TI O
189. H 1 4 2 2 147 483 648 2 147 483 647 80000000H 7FFFFFFFH EXTERNAL COUNTER NN 1 2 3 4 op da dp slo po eel MEN EXTERNAL COUNTER READ CODE 41H EXTERNAL COUNTER No 41H 1 4 2 1 2 3 4 pplppalplpd pppd ppppd mph TT Pb ED ED TD 50 EXTERNAL COMPARATE DATA WRITE CODE 42H EXTERNAL COMPARATE DATA EXTER AL COUNTER 2
190. HMC411 Seria1 M01 7 S7 HMC411 ff HhPitec 10 11 DC 6 1 6 2 6 3 6 8 7 1 INDEX PULSE DRIVE 7 2 SCAN DRIVE 7 3 SIGNAL SCAN A DRIVE 7 4 SIGNAL SCAN B DRIVE 7 5 SIGNAL INDEX DRIVE 7 6 ABSOLUTE DRIVE 9 1 9 2 9 3 S 9 4 S 10 1 10 2 10 3 S S 10 4 S S 10 5 S S
191. INT INTE IG IG Hill wn Sloel JLS JLS DRIVE DRIVE AL SCAN A DRIVE A A DRIVE A B DRIVE AL SCAN B DRIVE A A T INDEX DRIVE INDEX DRIVE DRIVE OIOIOIOIOIOIOIOIO TOTO 27 HMC41 1 I F RIVE PULSE COUNTER_ READ EX PULSE DATA OVERRIDE EX PULSE DATA READ ED DATA REA PT _ FLAG REA COUNTER WRITE COUNTER READ COMPARATE DATA WRITE COMPARATE DATA READ PRE SCALE DATA WRITE SCALE DATA READ PARATE DATA WRITE PARATE DATA READ COMPARATE DATA WRITE COMPARATE DATA READ COMPARATE DATA WRITE COMPARATE DATA READ ITER WRITE ITER READ TA WRITE EAD UNTER WRITE UNTER READ IPARATE DATA WRITE PA E DATA READ E SCALE DATA_WRITE 6 E SCALE DATA READ DEVIATION DATA REA ERATIO E TIME 0 REQUEST ULL TIME REQUEST JEAR RE ESET ERATIO ATCH RE ATCH RE AL COUNTE ATA READ R WRITE 6 iR READ HIGH S ER WRITE HIGH S 1 FE EAD RATE A DATA PRE RW E RATE A DATA P RATE B DATA P RATE B DATA P SCW A DATA PR SCW A DATA PR SCW B DATA PR SCW B DATA PR
192. L AL COMPARATE L COMPARA ECG L COMPARA L COMPA IC I C L COMPA L COMPA A H A A A L AL COMPARA AL COMPARATE G A A A A ALM ALM ALM H EMSEP MODE REGISTER 2 READ CODE 13H DP EID TR ETN Ney 13H 1 4 1 2 0 3 4 D7 pe ps D4 D3 D2 D1 Do D7 pe ps D4 D3 D2 D1 Do re er MODE REGISTER 2 WRITE CODE 12H SIGNAL SELECTOR WRITE CODE 14H No 14H 1 4 1 2 0 1
193. LSE H DIR 2 DIR CW PULSE CCW HH 2 DIR A PULSE B CW CCW 16 8 HMC41 1 S STOP LM CODE 1EH a SPEED DATA SPEED DATA 75 HMC41 1 I F b S S SPEED DATA LOW SPEED SPEED DATA SPEED DATA LOW SPEED A SPEED DATA 76
194. MC411 H 1 2 V pp 9 31 52 70 87 94 101 400nSec RE 3 HMC 4 1 1 i 3 RESET L ICLK SET L ICLK YE SDOOE L SDO DN4 27 DN3 DN 5 66 D15 Q14 D14 55 D13 DO6 7 DO5 DO07 50 Data Bus Input O
195. NAL COUNTER No 46H 1 4 1 2 0 SIGN Bit 15Bit 2 SIGN Bit 0 1 32 767 INTERNAL PRE SCALE DATA EXTERNAL PRE SCALE DATA FFFFFFFFH 3 4 D7 pe ps p4 p3 p2 pi1 po Dr pe ps p54 p3 pn2 pi1 po A ME et i a et eh SIGN I ENE IRR 28 I RR EE CE Et 20 LE c ONE TIME CLEAR REQUEST CODE 48H EXTERNAL COUNTER ONE TIME CLEAR REQUEST No 48H ONE TIME CLEAR REQUEST EXTERNAL COUNTER SIGNAL SELECTOR WRITE CODE 14H EXTERNAL COUNTER
196. No 6Bit 6 SFLM SFLM DEVOV HMC41 1 F 1 5 HMC 4 1 1 C 8Bit SCS SCLK SDI I O 50h SDO 1I O 51h No 00h 50h Bit0 SDI Bit1 SCLK Bit2 SCS 51h Bit0 SDO 15 1 a ICLK 26 2144MHz RANGE DATA 100 F 26 2144X105Hz 100X262 144 1 0pps LOW SPEED DATA 1000 Fiow FuvirX1 000 1 000pps HIGH SPEED DATA 20 000 Fr Ni 20 000 20 000pps RATE A DATA 256 Tunit
197. OW DOWN REAR PULSE DATA No OFH 1 4 3 4 Pb Pb ED TIT 93 ee 22 4 D23 216 2 1 5 28 D7 20 1 33 HMC41 1 I F MODE REGISTER 1 WRITE 3 ml mm uml OH 1 4 4 3 57 DoT p51 54 53 52 D1T 50 D7 D6 ps p4 D3 p2 p1 Do Li We 3 o ep 1 O 0 0 0 0 1 0 0 1 1 0 0 0 0 1 1 CCW 6 H CW CCW CW CODE 10H E
198. PAN HMC41 1 F 6 HMC 4 1 1 IF L SI SCS SCS SCS H SCLK MSB 1 1 8Bit SCS L SD Ii SCLK S DO SCLK 1 No No 2 27Bit 2 No DN5 DN0O 6 4 25Bit
199. T CODE 4DH EXTERNAL COUNTER LATCH REQUESTJ No 4DH LATCH REQUEST EXTERNAL COUNTER LATCH REQUEST EXTERNAL COUNTER LATCH DATA READ CODE 4EH EXTERNAL COUNTER EXTERNAL COUNTER LATCH BUFFER No 4EH 1 4 2 LBF 1 2 3 4 pelpslp paplpllpel aed ed TD No te i MN Ul es D31 ee 224 D223 216 D15 ee 28 RANGE DATA PRE BUFFER WRITE CODE 50H RANGE DATA PRE BUFFER
200. TERNAL PRE SCALE DATA WRITE CODE 44H EXTERNAL PRE SCALE DATA EXTERNAL COUNTER No lt gt 1 44H 1 4 2 00000001HCFFFFFFFFH EXTERNAL PRE SCALE DATA FFFFFFFFH 1 2 3 EXTERNAL PRE SCALE DATA READ CODE 45H EXTERNAL PRE SCALE DATA No 45H 1 4 2 1 2 3 4 pd ppsd ppp Pb TT TT PT ED 231 PR ha 22 4 22 3 216 215 28 2 7 20 5 HMC41 1 F CODE 46H INTERNAL COUNTER EXTER
201. USY HH 0 END STATUS DTEED Bit 1 BUSY HH LOW SPEED DATA HIGH SPEED DATA Ws BUSY HH END BUSY L 0 BUSY HH INITIAL CLEAR CODE 1DH 16 4 HMC41 1
202. W_ADDR sif_data sif wrt DEVICE Device Number WRITE sif_wrt comm COMMAND WRITE sif wrt data gt gt 8 amp 0xff 1 31 D24 WRITE sif wrt data amp Oxff 2 23 D16 WRITE 3 4 sif_data SIF_SCS HH SCS OFF outp SIFW_ADDR sif_data HMC411 NT gt 2 void com l2wrt short comm unsigned short data unsigned long f4 data f4_data unsigned long data com_f4wrt comm f4 data
203. com_ 12wrt 0x12 0x3903 com_ 12wrt 0x16 0x0000 com_f4wrt 0x18 0x07c6040b 0x0000 HMC 4 1 1 0 1 V short org_exe void com_ 12wrt 0x14 0xc000 com_wrt 0x25 end_chk if com h2red 0x6B 0x0000 if com_h2red 0x6B amp 0x00fd return 1 LIMIT STOP com_12wrt 0x14 0x4000 com_wrt 0x24 end_chk if com_h2red 0x6B return 1 1 0x0000 BUSY 0 WAIT RANGE DATA LOW SP 100 SET EED DATA 1 000 SET HIGH SPEED DATA 20 000 SET RATE A MODE R MODE R DATA 256 SET EGISTER 1 WRITE EGISTER 2 WRITE INTERRUPT SELECTOR WRITE DIGITA L FILTER WRITE INO 1 EDGE SELECT SIGNAL SELECTOR WRITE SIGNAL SCAN A DRIVE DRIVE END CHECK 0x0000 INO J EDGE SELECT SIGNAL SELECTOR WRITE SIGNAL SCAN A DRIVE DRIVE END CHECK 69 HMC41 1 F com_12wrt 0x14 0xc000 INO 1 EDG
204. hk DRIVE END CHECK HMC411 void main void sif init HMC411 hmc_init HMC411 if org_exe 0 HMC411 else addr_set HMC411 work_exe HMC411 70 1 6 16 1 HMC 4 1 1 L S I 100 Pup 1 2 Funi7 Up 2 Pup 1
205. pilDo UE IL WM CE UO a II H 0 D14 28 27 20 SLOW DOWN REAR PULSE DATA WRITE CODE OEH SLOW DOWN REAR PULSE DATA No OEH 1 4 SLOW DOWN REAR PULSE DATA INDEX PULSE DRIVE SIGNAL INDEX DRIVE ABSOLUTE DRIVE a b BUSY HH 0 4 294 967 295 00000000H FFFFFFFFH SLOW DOWN REAR PULSE DATA 0 00000000H 1 2 3 4
206. po 3 0 211 28 27 20 31 HMC41 1 F CODE 0A 0CH SCW A B DATA No 0OAHorOCH 1 4 1 2 0 1 BUSYH 16 16 15 1 32 767 0001H 7FFFH SCW A B DATA 32 767 7FFFH HU 3 4 LD7lpelpslD4lp3 p2 pllDO LD7lpelpslD4lp3 pz pilDO UL il D14 28 27 20 CODE 0B 0DH SCW A B DATA No 0BHor0DH 1 4 1 2 0 3 4 LD7lDpelpslD4lp3 DzlpilDO LD7lpelpslD4lp3 pzl
207. utput CPU BUS I F BUSY OH H BUSY HOD INDEX PULSE DRIVE PRE INDEX PULSE DRIVE BUSY Bit 1 CS SCS SDOOE H OUT ENABLE 65 DN2 26 DN1 64 DNO 2 SDO 13 D12 12 D11 54 D10 49 DO4 6 DO3 48 DO2 SY HH BUSY HH DRIVE STATUS BUFFER WRITE CODE 60HL 61H SDREQ 23 L 26 2144MHz READ CODE 6AH H RESET 40MHz
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